Resonance Compensation of Extended State Observer Improved Based on Inertia Ratio

This paper proposes an improved model compensation method based on the inertia ratio. The method enhances the Extended State Observer (ESO) by introducing an adjustable inertia ratio, broadening its application scope. The elastic system is modeled by combining a rigid model with an elastic disturbance model, illustrating how controller compensation interacts with the elastic system and how the system's inertia ratio limits the controller's applicability. Based on ESO's application in elastic systems, this paper integrates the inertia ratio concept with the extended observer structure to achieve combined feedback. Simulation results demonstrate the proposed method's excellent disturbance and resonance suppression capabilities.